CN110529355A - Liquid measure control device and the liquid measure control method for applying it - Google Patents
Liquid measure control device and the liquid measure control method for applying it Download PDFInfo
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- CN110529355A CN110529355A CN201910847275.1A CN201910847275A CN110529355A CN 110529355 A CN110529355 A CN 110529355A CN 201910847275 A CN201910847275 A CN 201910847275A CN 110529355 A CN110529355 A CN 110529355A
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- Prior art keywords
- liquid
- dropper
- depth
- measure control
- protrudes
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
- B01L3/0217—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids of the plunger pump type
- B01L3/0237—Details of electronic control, e.g. relating to user interface
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B13/00—Pumps specially modified to deliver fixed or variable measured quantities
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B51/00—Testing machines, pumps, or pumping installations
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B53/00—Component parts, details or accessories not provided for in, or of interest apart from, groups F04B1/00 - F04B23/00 or F04B39/00 - F04B47/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N35/1016—Control of the volume dispensed or introduced
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L2200/00—Solutions for specific problems relating to chemical or physical laboratory apparatus
- B01L2200/14—Process control and prevention of errors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L2400/00—Moving or stopping fluids
- B01L2400/04—Moving fluids with specific forces or mechanical means
- B01L2400/0475—Moving fluids with specific forces or mechanical means specific mechanical means and fluid pressure
- B01L2400/0487—Moving fluids with specific forces or mechanical means specific mechanical means and fluid pressure fluid pressure, pneumatics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N2035/1025—Fluid level sensing
Abstract
The present invention provides a kind of liquid measure control device and the liquid measure control method using it, to control the liquid measure of invisible spectro liquid.Liquid measure control device includes position detector, side Pu, driver and controller.The height and position of suction end of the position detector to detect dropper.It helps Pu to connect dropper, liquid is sucked out outside test tube.Driver connection side Pu is mobile to drive side Pu.Controller is electrically connected at position detector, driver and helps Pu, and to: (1) the suction end touch position detector of driver driving dropper is controlled, to detect the height and position of suction end；(2) according to height and position, determine that dropper protrudes into liquid intracorporal one and protrudes into depth；And invisible spectro liquid is drawn by dropper in (3) control side Pu.
Description
Technical field
The present invention relates to a kind of control device and application its control method, and in particular to a kind of liquid measure control device and
Using its liquid measure control method.
Background technique
Existing liquid measure control device can draw examination liquid in pipe repeatedly, and finally the surplus control for trying liquid in pipe exists
One target default volume.However, the difficulty being precisely controlled due to uptake is high, the surplus and target of examination liquid in pipe are often resulted in
The difference of default volume is quite big.Therefore, in need to propose a kind of surplus and the diminution of target default volume that allowed and try liquid in pipe
Liquid measure control device and application its liquid measure control method.
Summary of the invention
The embodiment of the present invention proposes a kind of liquid measure control device and the liquid measure control method using it, can improve above-mentioned ask
Topic.
One embodiment of the invention proposes a kind of liquid measure control device.Liquid measure control device is to control an invisible spectro liquid
The liquid measure of body.Liquid measure control device includes a position detector, Yi Bangpu, a driver and a controller.Help Pu connection first
Liquid is sucked out outside test tube dropper.Driver connection side Pu is mobile to drive side Pu.Controller is electrically connected at position detection
Device, driver and side Pu, and to: control driver drives the detection of the first suction end in-position detector of the first dropper
Area, to obtain the end height position of the first suction end；According to end height position, control driver drives the of the first dropper
One suction end protrudes into liquid intracorporal 1 first and protrudes into depth；And invisible spectro liquid is drawn by the first dropper in control side Pu.
Another embodiment of the present invention proposes a kind of liquid measure control method.Liquid measure control method is to control one invisible spectro one
The liquid measure of liquid.Liquid measure control method is the following steps are included: provide such as aforementioned liquid measure control device；It is controlled and is driven by controller
Device drives the detection zone of the first suction end in-position detector of the first dropper, to obtain the end height position of the first suction end
It sets；Controller protrudes into liquid intracorporal 1 first and protrudes into depth according to end height position, the first suction end of one dropper of driving；With
And invisible spectro liquid is drawn by the first dropper in controller control side Pu.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the functional block diagram according to the liquid measure control device of one embodiment of the invention.
Fig. 2A~2O is the process schematic of the liquid measure control method of the liquid measure control device of Fig. 1.
Fig. 3 A~3B is the flow chart of the liquid measure control method using liquid measure control device of Fig. 2A.
Appended drawing reference:
10: test tube
15: carrying seat
15r: hollow-out parts
20: the first droppers
20d: the first suction end
30: the second droppers
30d: the second suction end
100: liquid measure control device
110: position detector
110s: detection faces
120: side Pu
130: driver
140: controller
145: image processor
150: image pick-up device
D1, d2: caliber
L1, L2: length
L: liquid
HL: liquid level position
H1: end height position
Hd: end height position
HUP: upper limit position
HLOW: lower position
H1: the first protrudes into depth
H2: the second protrudes into depth
H3: third protrudes into depth
△ H: difference in height
H1 ', H2 ': mounting height position
M1: image
O: origin
P1: the plane of reference
S1: touching signal
Specific embodiment
More preferably understand to have to above-mentioned and other aspect of the invention, special embodiment below, and cooperates institute's attached drawing
Detailed description are as follows for formula.
Fig. 1,2A~2O and 3A~3B are please referred to, Fig. 1 is the function according to the liquid measure control device 100 of one embodiment of the invention
Energy block diagram, Fig. 2A~2O is the procedure chart of the liquid measure control method of the liquid measure control device 100 of Fig. 1, and Fig. 3 A~3B is figure
The flow chart of the liquid measure control method using liquid measure control device 100 of 2A.
Liquid measure of the liquid measure control device 100 to control the liquid L in test tube 10.Test tube 10 is configurable on a load seat 15
On (carry seat 15 and be shown in Fig. 2 C2).For example, liquid measure control device 100 can draw liquid L in test tube 10 repeatedly, make in test tube 10 most
Whole residual liquid quantity is accurately controlled in target default volume.The liquid measure control device 100 of the embodiment of the present invention can be used for medical treatment
Field or precise automatic dispensing field.For medical field, liquid L is, for example, the injection for injecting organism in test tube 10
Liquid.Since residual liquid quantity final in test tube 10 is accurately controlled in target default volume, more accurate treatment can be performed
Or medical experiment.For precise automatic dispensing field, liquid L is, for example, viscose in test tube 10.Due to final in test tube 10
Residual liquid quantity be accurately controlled in target default volume, therefore executable more accurate dispensing avoids excessive glue or glue amount insufficient
The problem of occur.
As shown in Fig. 1 and 2A, liquid measure control device 100 includes position detector 110, side Pu 120, driver 130, control
Device 140, image processor 145 and image pick-up device 150.Controller 140 and image processor 145 can be using manufacture of semiconductor shape
At circuit structure (circuit).In one embodiment, controller 140 and image processor 145 can be two and make respectively
Stand-alone assembly, however a single component can also be integrated into.
As shown in Fig. 1 and Fig. 2A, the end of first suction end 20d of the position detector 110 to detect the first dropper 20
Height and position H1 (height and position H1 is shown in Fig. 2 B).It helps Pu 120 to connect the first dropper 20, test tube 10 is sucked out in liquid L
Outside.The connection of driver 130 side Pu 120 is mobile to drive side Pu 120.Controller 140 is electrically connected at position detector 110, drives
Dynamic device 130 and side Pu 120, and to: (1) control the first in-position suction end 20d of the first dropper 20 of driving of driver 130
The detection zone of detector 110, to obtain the end height position H1 of the first suction end 20d；(2) foundation end height position H1,
Control driver 130 drives the first dropper 20 protrudes into liquid L first to protrude into depth h1 (first, which protrudes into depth h1, is shown in figure
2E)；And (3) control side Pu 120 takes the liquid L in test tube 10 by the first dropper 20.
It is further illustrated below with the procedure chart of liquid measure control method of Fig. 2A~2O and the flow chart of Fig. 3.
In step s105, liquid measure control device 100 as shown in Figure 2 A is provided.The X-direction of diagram is, for example, level side
To, and Z-direction is for example vertically oriented.140 controllable driver 130 of controller is in X direction and/or Z-direction is mobile, with driving
The first dropper 20 connecting with driver 130 is in X direction and/or Z-direction is mobile.
In step s 110, as shown in Figure 2 B, controller 140 controls the first suction that driver 130 drives the first dropper 20
The detection zone of the end in-position 20d detector 110 is taken, to obtain the end height position H1 of the first suction end 20d.
In the present embodiment, position detector 110 is, for example, contact measurement device, such as limit switch.Position detector 110
Detection zone be, for example, position detector 110 detection faces 110s (showing in fig. 2b).The detection accuracy of position detector 110
E.g. 1 micron, however can also be bigger or even more small, keep the precision of surveyed end height position H1 high, facilitates essence
Quasi- control dropper protrudes into the intracorporal depth of liquid.In another embodiment, non-contact detection can also be used in position detector 110
Device, such as optical detector.
The position of the detection zone of position detector 110 is end height position H1.In embodiment, known to controller 140
Height relationships between the detection zone coordinate of position detector 110 and the coordinate of origin O, such as along the relative altitude of Z-direction.Citing
For, the coordinate of origin O may be set to (0,0,0), and the detection zone coordinate of position detector 110 may be set to (x, y, H1),
Wherein the numerical value of x and y is depending on the position of position detector 110.Controller 140 is sat according to the detection zone of position detector 110
The difference of mark and the Z component numerical value of the coordinate of origin O obtains end height position H1.In the present invention, the position of origin O is not
It is limited.For example, origin O can be located on the plane of reference P1 (showing in fig. 2b) for carrying above-mentioned load seat 15.Such as Fig. 2 B institute
Show, plane of reference P1 can be a horizontal plane, and test tube 10, position detector 110 and image pick-up device 150 can be positioned at the upper of plane of reference P1
Side.
As shown in Figure 2 B, as the detection faces 110s of the first suction end 20d touch position detector 110, position detector
110 issue a touching signal S1 to controller 140, controller 140 can define first and draw after receiving touching signal S1
The position for holding 20d touch position detector 110 is known end height position H1.In the end for defining the first suction end 20d
After height and position H1, controller 140 can be by the first suction end 20d in X direction and/or the amount of movement of Z-direction learns the first suction
(current) position after taking end 20d mobile.Driver 130 is, for example, to include at least stepper motor (not shown), can be precisely controlled
First suction end 20d in X direction and/or the amount of movement of Z-direction, makes 140 controllable driver 130 of controller by the first suction end
20d is accurately moved to required position, such as protrudes into test tube 10 depth location in liquid L.In one embodiment, driver
The displacement accuracy of 130 the first suction end 20d of driving is can be controlled in 0.03 millimeter (mm), however can also be bigger or even more small.
In step sl 15, as shown in Fig. 2 C1 and Fig. 2 C2, image pick-up device 150 obtains the image M1 of liquid L in test tube 10.Such as
Shown in Fig. 2 C2, the configuration of test tube 10 is on carrying seat 15, and carrying seat 15 has hollow-out parts 15r, and liquid L reveals from hollow-out parts 15r in test tube 10
Out, image pick-up device 150 is enable to get the image M1 of the liquid level including liquid L.In one embodiment, image pick-up device 150 is, for example,
Image of microscope image pick-up device can obtain the image M1 of liquid L in subtleer (resolution ratio is higher) test tube 10.
In step S116, image processor 145 analyzes image M1, to judge the liquid level position H of liquid LL, wherein
Liquid level position HLIllustrate by taking liquid level and the height and position (along Z-direction) of opposite origin O as an example.
Then, as shown in Figure 2 D, controller 140 controls the first dropper 20 of driving of driver 130 and is moved to test tube in X direction
Right above 10.
In step S117, as shown in Figure 2 E, controller 140 is according to liquid level position HLAnd end height position H1,
Control driver 130 drives the first suction end 20d to protrude into first along -Z direction and protrudes into depth h1.First, which protrudes into depth h1, is, for example,
From liquid level position HLThe depth extended down along -Z direction.
First to protrude into depth h1 be, for example, a default value.In one embodiment, first depth h1 is protruded into e.g. between 1 milli
Rice~3 millimeters between, such depth can avoid the outside wall surface for remaining in the first dropper 20 and/or the liquid L of inner wall is excessive.
Specifically, if first to protrude into depth h1 too deep, after the first dropper 20 up leaves liquid level, remain in the first dropper 20
The liquid L of wall surface, which may hang down, to be flow in test tube 10.Due to hanging down, flow is difficult to estimate, causes the surplus of liquid L in test tube 10 non-
Expected variation.In another embodiment, the uptake that the first dropper 20 draws liquid L every time can be limited to liquid L in test tube 10
Surplus 10%~20% between, it is same to can avoid similar liquid above-mentioned and hang down flow problem.
As shown in Figure 2 E, the first range for protruding into depth h1 can be between upper limit position HUPWith lower position HLOWBetween, the upper limit
Position HUPWith lower position HLOWFor image pick-up device 150 can shooting area.In addition, upper limit position HUPAnd lower position HLOWFor with
Illustrate for the height of opposite origin O.
In the step s 120, as shown in Figure 2 F, test tube 10 is drawn by the first dropper 20 in the control of controller 140 side Pu 120
Interior liquid L.The liquid L that first dropper 20 is drawn can pass through the suction at side Pu 120, guidance to the storage outside the first dropper 20
Liquid bath (not shown).
In step s 125, as shown in Figure 2 G, in suction process, the liquid level position of the liquid L in test tube 10
HLEnd height position H lower than the first suction end 20ddBefore, 140 controllable driver 130 of controller drives the first dropper 20
First suction end 20d protrudes into liquid L one second toward -Z direction and protrudes into depth h2 (as shown in Figure 2 G).In this way, can avoid first
Suction end 20d suction is (if face height and position HLEnd height position H lower than the first suction end 20dd, the first suction end 20d
Air can be drawn onto).In addition, aforesaid end height and position HdTo illustrate by taking the height of opposite origin O as an example.In the first suction end
20d is protruded into down in liquid L during a depth, and liquid L in the sustainable absorption test tube 10 of the first suction end 20d is not needed
Stop.In addition, second protrude into depth h2 can from test tube 10 liquid L liquid level start.In one embodiment, second depth is protruded into
H2 protrudes into depth h1 with aforementioned first can be identical, however can also be different.Second protrudes into the range of depth h2 between upper limit position
HUPWith lower position HLOWBetween, upper limit position HUPWith lower position HLOWFor image pick-up device 150 can shooting area.
In step s 130, as illustrated in figure 2h, test tube 10 is drawn by the first dropper 20 in the control of controller 140 side Pu 120
Interior liquid L.
In one embodiment, in suction process, image processor 145 can analyze image M1 acquired in image pick-up device 150
Learn current fluid level height and position HLAnd end height position Hd, liquid level position H is then judged againLWith the first suction end 20d
End height position HdDifference in height △ H whether up to a default measures of dispersion.If it is, the control driving of controller 140
Device 130, which drives the first suction end 20d to protrude into liquid L down and controls side Pu 120 simultaneously, to be continued to draw examination by the first dropper 20
Liquid L in pipe 10；If it is not, then the control of controller 140 side Pu 120 passes through the under the position for maintaining the first suction end 20d
One dropper 20 continues to draw liquid L in test tube 10.In addition, aforementioned default measures of dispersion be, for example, between 1 microlitre~3 milliliters, however
It can also be greater or lesser.The embodiment of the present invention does not limit the actual numerical value of aforementioned default measures of dispersion.
In step S135, image processor 145 judges whether the surplus of liquid L in test tube 10 is less than middle preset
Amount.For example, 140 controllable driver 130 of controller drives the first dropper 20 first to leave the liquid L in test tube 10.Then, image
Processor 145 analyzes image M1 acquired in image pick-up device 150, to judge the liquid level position HL of liquid L in test tube 10, then
According to liquid level position HL, the surplus of liquid L is obtained, then judges whether surplus reaches target default volume.At image
The mode that reason device 145 obtains the surplus of liquid L in test tube 10 is, for example: opposite with liquid level position according to a surplus
Relationship (such as equation or table) is arranged in pairs or groups mathematical method (such as interpolation method), and liquid corresponding to current fluid level height and position HL is obtained
The surplus of body L.Aforementioned middle preset amount is, for example, between 50 microlitres and 100 microlitres.
When the surplus of liquid L in test tube 10 is no less than middle preset amount (the "No" result of step S135), then process is returned
To step S130, controller 140 can be with: (1) continuing control side Pu 120 and draw liquid L in test tube 10 by the first dropper 20；
Or (2) control driver 130 drives test tube 10 to protrude into liquid L an appropriate depth again (as liquid level position HL and first
The end height position H of suction end 20ddDifference in height △ H when having reached aforementioned default measures of dispersion), then control side Pu 120 is logical
The first dropper 20 is crossed to continue to draw the liquid L in test tube 10.
The surplus of liquid L is less than before middle preset amount (the "Yes" result of step S135) in test tube 10, according to examination
The primary quantity (before drawing for the first time, as shown in Figure 2 A) of liquid L and each uptake of the first dropper 20 are different in pipe 10, controller
140 can control the first dropper 20 protrude into liquid L in test tube 10 it is primary, secondary or more time.In addition, in one embodiment, the
One dropper 20 only can disposably be drawn.Specifically, first is protruded into liquid L in 20 first time of the first dropper protrude into depth
After spending h1, liquid L in test tube 10 can be directly drawn, until suction or is drawn to the liquid L of predetermined amount.Then, process enters step
Rapid S140 starts to carry out minim suction step.In addition, if the test tube known to controller 140 before the first dropper 20 enters liquid L
The liquid level position of liquid L in 10, then process can omit the image processing step of step S115, S116.
When the surplus of liquid L in test tube 10 is less than middle preset amount (the "Yes" result of step S135), then process enters
Step S140.
In step S140, as shown in figure 2i, controller 140 controls driver 130 and the first dropper 20 is driven to leave test tube
10.Drive the first dropper 20 mobile toward +Z direction for example, controller 140 controls driver 130, to leave test tube 10 completely, and
Drive the first dropper 20 mobile toward -X direction, until being located at right above position detector 110.
Then, as shown in fig. 2j, user can replace the first dropper 20 as shown in figure 2i with the second dropper 30.Second drop
The caliber d1 (caliber d1 is shown in Fig. 2 I) of the caliber d2 of pipe 30 and the first dropper 20 can be different.In the present embodiment, second
The caliber d2 of dropper 30 so can be more accurately to draw liquid L in test tube 10 microly less than the caliber d1 of the first dropper 20
The final surplus of liquid L is close to or up to a target surplus in control test tube 10.In one embodiment, liquid in test tube 10
The surplus of L is can be controlled in the error range of microlitre grade, such as ± 1 μ l, however can also be bigger or even more small.In addition,
Can the uptake each according to the first dropper 20 determine the caliber d1 of the first dropper 20, and the absorption each according to the second dropper 30
Measure the caliber d2 for determining the second dropper 30.
The embodiment of the present invention is not limited the caliber d1 of the first dropper 20 and/or the caliber d2 of the second dropper 30.
For example, the caliber d1 of the first dropper 20 is about between 2 times to 7 times of the range of the caliber d2 of the second dropper 30.In another example first
Each uptake of dropper 20 is about between 350 times to 625 times of range of each uptake of the second dropper 30.Implement one
In example, the caliber d1 of the first dropper 20 be, for example, between 10mm and 15mm or between 11.6mm and 12.3mm, and
The each uptake of first dropper 20 can be between 4 milliliters (ml) and 5 milliliters.The caliber d2 of second dropper 30 be, for example, between
Between 2mm and 5mm or between 2.5mm and 2.7mm, and each uptake of the second dropper 30 can be between 8 microlitres (μ l)
Between 12 microlitres.In addition, the length L2 (being shown in Fig. 2 J) of the length L1 (being shown in Fig. 2 I) of the first dropper 20 and the second dropper 30
It can be identical or different.
One of them of replacement dropper, which has the technical effect that, is led with liquid measure control device 100 applied to precise automatic dispensing
For domain, the first dropper 20 and the second dropper 30 are, for example, Glue dripping head.If it find that the first suction end 20d of the first dropper 20
Liquid L (such as viscose) has solidification phenomenon, then the first dropper 20 can be replaced with the second dropper 30, avoids influencing to liquid in test tube 10
The absorption of body L.
In step S145, as shown in figure 2k, after the first dropper 20 is replaced with the second dropper 30, controller 140 is controlled
Driver 130 processed drives the detection zone of the second in-position suction end 30d detector 110 of the second dropper 30, to take second
The end height position H1 of suction end 30d.
The mounting height position H2 ' (being shown in Fig. 2 J) and the first dropper of its second suction end 30d after the installation of second dropper 30
The mounting height position H1 ' (being shown in Fig. 2A) of its first suction end 20d may be different after 20 installations, however even so, pass through
Second suction end 30d touch position detector 110 of the second dropper 30, controller 140 can obtain (or definition) second dropper 30
The second suction end 30d touch position detector 110 end height position H1, and then can be by the second suction end 30d accurately
It is moved to required position.In addition, mounting height position H2 ' and mounting height position H1 ' is to say by taking the height of opposite origin O as an example
It is bright.
Then, as shown in figure 2l, controller 140 control driver 130 drive the second dropper 30 moved along +Z direction, with from
Open position detector 110.
Then, as shown in figure 2m, controller 140 controls the second dropper 30 of driving of driver 130 and is moved to examination along +X direction
The surface of pipe 10.
In step S155, as shown in figure 2n, controller 140 drives the driving of driver 130 second according to height and position H1
The third that dropper 30 protrudes into liquid L in test tube 10 protrudes into depth h3.It is, for example, from liquid level position that third, which protrudes into depth h3,
HLThe depth that (liquid level of liquid L) extends down.In one embodiment, what controller 140 can be each according to the second dropper 30
It is expected that uptake, calculates third and protrudes into depth h3, alternatively, third protrudes into depth h3 sheet as a default value, such as the second dropper 30
Minimum uptake.In the present embodiment, it is, for example, to protrude into depth h1 less than first that third, which protrudes into depth h3, to realize micro suction
What is taken is precisely controlled.
In step S160, as shown in Figure 2 O, test tube 10 is drawn by the second dropper 30 in the control of controller 140 side Pu 120
Interior liquid L.
In step S165, controller 140 controls driver 130 and the second dropper 30 is first driven to leave liquid L.Then, it takes the photograph
As device 150 obtains the image M1 of liquid L in test tube 10.
In step S170, image processor 145 analyzes image M1, to judge the liquid level position H of liquid LL。
In step S175, image processor 145 is according to liquid level position HL, obtain the residue of liquid L in test tube 10
Amount.For example, relativeness (such as equation or table) of the image processor 145 according to a surplus and liquid level position, takes
With mathematical method (such as interpolation method), current fluid level height and position H is obtainedLThe surplus of corresponding liquid L.
In step S180, it is silent that image processor 145 judges whether the surplus of the liquid L in test tube 10 reaches a target
The amount of recognizing.Target default volume is, for example, between 5 microlitres~15 microlitres.If it is, process enters step S181；If not,
Then process enters step S182.
In step S181, since the surplus of the liquid L in test tube 10 not yet reaches target default volume, controller 140
Control driver 130 drives the second dropper 30 to protrude into third in liquid L again and protrudes into depth h3, continues to draw the liquid in test tube 10
Body L, then process returns to step S165, by image analysis techniques, continue to judge the liquid L in test tube 10 surplus whether
Reach target default volume.In step S182, since the surplus of the liquid L in test tube 10 has reached target default volume, controller
140 control side Pus 120 stop drawing the liquid L in test tube 10, and control driver 130 and the second dropper 30 is driven to leave liquid L.
By being repeated for step S165~S181, the second dropper 30 may enter repeatedly liquid L and inhale for several times and repeatedly
Take liquid L for several times.However, second dropper 30 can also pass through in liquid L depending on liquid measure and third protrude into depth h3 in test tube 10
Primary and absorption liquid L is primary.
After step S182, the surplus (target default volume) of the liquid L in test tube 10 can be used as appropriate purposes, such as cure
The purposes of the dispensing of the injection, point glue equipment for the treatment of or various other liquid for needing designated volume.In addition, liquid measure control dress
Setting 100 further includes a wireless communication module (not shown), and wireless communication module can be by the letter of the surplus of the liquid L in test tube 10
Breath sends electronic device (not shown) to, and wherein electronic device is, for example, to show equipment, mobile device, intelligent sound box, wearable
Device and/or computer etc..
The surplus of liquid L in test tube 10 can be controlled and be missed in micro updating by liquid measure of embodiment of the present invention control device 100
Difference, such as ± 1 μ l, however can be bigger or even more small.Following table one and table two are please referred to, table one is shown using existing liquid measure control dress
The experimental result for carrying out liquid measure control is set, and table two shows and carries out liquid measure control using liquid measure of embodiment of the present invention control device 100
The experimental result of system.
As shown in Table 1, be for 16 microlitres with target default volume, the least residue amount of existing liquid measure control device down to
6.1 microlitres, 9.9 microlitres are up to lower than target default volume, and error is up to 62%.As shown in Table 2, with target default volume for 16 microlitres
For, the maximum residual amount of liquid measure control device 100 is 18.2 microlitres, is higher than only 2.2 microlitres of target default volume, error is only
14%.Comparison sheet one and table two reflect that the liquid measure control device 100 of the embodiment of the present invention can make the residue of liquid L in test tube 10
It measures closer to target default volume.
Table one
| Test serial number | The surplus (microlitre) of liquid L in test tube 10 |
| 1 | 12.6 |
| 2 | 12 |
| 3 | 13.5 |
| 4 | 11.1 |
| 5 | 10.5 |
| 6 | 13.8 |
| 7 | 13.1 |
| 8 | 16.1 |
| 9 | 6.1 |
| 10 | 10.7 |
| Target default volume (microlitre) | 16 ± 10% |
| Average value (microlitre) | 11.95 |
| Maximum residual amount (microlitre) | 16.1 |
| Least residue amount (microlitre) | 6.1 |
Table two
Following table three is please referred to, table three shows the reality that liquid measure control is carried out using liquid measure of embodiment of the present invention control device 100
Test result.It is for 9 microlitres with target default volume, the least residue amount of liquid measure control device 100 is 8.3 microlitres, is lower than target
Only 0.7 microlitre of default volume, error only 8% reflects that the liquid measure control device 100 of the embodiment of the present invention can make liquid L in test tube 10
The fairly close target default volume of surplus.
Table three
In conclusion although the present invention is disclosed as above with embodiment, the protection model that however, it is not to limit the invention
It encloses.The technical staff in the technical field of the invention can carry out various without departing from the spirit and scope of the present invention
Change and improve, all belong to the scope of protection of the present invention within.Therefore, protection scope of the present invention is when with claims institute circle
Subject to fixed.
Claims (18)
1. a kind of liquid measure control device, which is characterized in that control the liquid measure of an invisible spectro liquid, liquid measure control dress
It sets and includes:
One position detector；
A gang of Pu connects one first dropper, the liquid to be sucked out outside the test tube；
One driver connects the side Pu, and to drive the side Pu mobile；
One controller, is electrically connected at the position detector, the driver and the side Pu, and to:
The detection zone that the driver drives one first suction end of first dropper to enter the position detector is controlled, to obtain
The one end height and position of first suction end；
According to the end height position, controlling the driver, to drive first suction end of first dropper to protrude into the liquid intracorporal
One first protrudes into depth；And
It controls the side Pu and the invisible spectro liquid is drawn by first dropper.
2. liquid measure control device as described in claim 1, which is characterized in that further include:
One image pick-up device, to obtain an image of the liquid in the test tube；
One image processor, to:
The image is analyzed, to judge a liquid level position of the liquid；
Wherein, this first protrude into depth be from the liquid level position start.
3. liquid measure control device as described in claim 1, which is characterized in that the controller further include:
Before one end height and position of the liquid level position of the invisible spectro liquid lower than first suction end, control
First suction end of first dropper that the driver drives protrudes into the liquid 1 second and protrudes into depth；And
It controls the side Pu and the invisible spectro liquid is drawn by first dropper.
4. liquid measure control device as claimed in claim 3, which is characterized in that this second protrudes into depth and this first protrudes into depth
It is identical.
5. liquid measure control device as claimed in claim 2, which is characterized in that the controller further include:
Before one end height and position of the liquid level position of the invisible spectro liquid lower than first suction end, control
First suction end of first dropper that the driver drives protrudes into the liquid 1 second and protrudes into depth；
Wherein, determine first dropper protrude into the liquid it is intracorporal this first protrude into depth the step of in, this first protrudes into depth
Range between a upper limit position and a lower position, the upper limit position be the image pick-up device can shooting area, and this
Two ranges for protruding into depth are no more than the lower position.
6. liquid measure control device as described in claim 1, which is characterized in that the controller also to:
When a surplus of the liquid in the test tube be less than a middle preset amount when, control the driver drive first dropper from
Open the test tube；
After first dropper is replaced with one second dropper, one second suction end that the driver drives second dropper is controlled
Into the detection zone of the position detector, to obtain the end height position of second suction end, wherein second dropper
Caliber be less than first dropper caliber；
According to the end height position, controlling the driver, to drive second suction end of second dropper to protrude into the liquid intracorporal
One third protrudes into depth；And
It controls the side Pu and the invisible spectro liquid is drawn by second dropper.
7. liquid measure control device as claimed in claim 6, which is characterized in that the third protrudes into depth and first protrudes into depth less than this
Degree.
8. liquid measure control device as described in claim 1, which is characterized in that further include:
One image pick-up device, to obtain an image of the liquid in the test tube；
Wherein, which further includes an image processor, the image processor to:
The image is analyzed, to judge a liquid level position of the liquid；
According to the liquid level position, a surplus of the liquid is obtained；And
Judge whether the surplus reaches a target default volume；
Wherein, the controller also to:
When the surplus reaches the target default volume, controls the side Pu and stop drawing the invisible spectro liquid；And
When the surplus does not reach the target default volume, controls the side Pu and continue to draw the invisible spectro liquid.
9. liquid measure control device as described in claim 1, which is characterized in that the position detector is a limit switch.
10. a kind of liquid measure control method, which is characterized in that control the liquid measure of an invisible spectro liquid, liquid measure control
Method includes:
Liquid measure control device as described in claim 1 is provided；
Controlling the driver by the controller drives first suction end of first dropper to enter the one of the position detector
Detection zone, to obtain the end height position of first suction end；
By the controller according to the end height position, first suction end of first dropper is driven to protrude into the liquid intracorporal
One first protrudes into depth；And
The side Pu is controlled by the controller, and the invisible spectro liquid is drawn by first dropper.
11. the liquid measure control method as described in claim 10, which is characterized in that the liquid measure control device further includes a camera shooting
Device；Determine this first protrude into depth the step of include:
An image of the liquid in the test tube is obtained by the image pick-up device；
Wherein, which further includes:
The image is analyzed by an image processor, to judge a liquid level position of the liquid；
Wherein, this first protrude into depth be from the liquid level position start.
12. liquid measure control method as claimed in claim 10, which is characterized in that further include:
Before one end height and position of the liquid level position of the invisible spectro liquid lower than first suction end, pass through
First suction end of first dropper that the driver drives protrudes into the liquid 1 second and protrudes into depth；And
The side Pu is controlled by the controller, and the invisible spectro liquid is drawn by first dropper.
13. liquid measure control method as claimed in claim 12, which is characterized in that controlling driver driving in the controller should
First suction end of first dropper protruded into the liquid second protrude into depth the step of, this second protrude into depth and this first
It is identical to protrude into depth.
14. liquid measure control method as claimed in claim 11, which is characterized in that further include:
Before one end height and position of the liquid level position of the invisible spectro liquid lower than first suction end, pass through
First suction end of first dropper that the driver drives protrudes into the liquid 1 second and protrudes into depth；
Wherein determine first dropper protrude into the liquid it is intracorporal this first protrude into depth the step of in, this first protrudes into depth
Range between a upper limit position and a lower position, the upper limit position be the image pick-up device can shooting area, and this second
The range for protruding into depth is no more than the lower position.
15. liquid measure control method as claimed in claim 10, which is characterized in that further include:
When a surplus of the liquid in the test tube be less than a middle preset amount when, by the driver drive first dropper from
Open the test tube；
After first dropper is replaced by one second dropper, by the driver drive one second suction end of second dropper into
Enter the detection zone of the position detector, to obtain the end height position of second suction end, wherein second dropper
Caliber is less than the caliber of first dropper；
According to the end height position, driving second suction end of second dropper by the driver, to protrude into the liquid intracorporal
One third protrudes into depth；And
It controls the side Pu and the invisible spectro liquid is drawn by second dropper.
16. liquid measure control method as claimed in claim 15, which is characterized in that wherein the third protrude into depth less than this first
Protrude into depth.
17. liquid measure control method as claimed in claim 15, which is characterized in that wherein the liquid measure control device further includes taking the photograph
As device and an image processor；The liquid measure control method further include:
An image of the liquid in the test tube is obtained by the image pick-up device；
The image is analyzed by the image processor, to judge a liquid level position of the liquid；
By the image processor according to the liquid level position, a surplus of the liquid is obtained；
Judge whether the surplus reaches a target default volume by the controller；
When the surplus reaches the target default volume, which is controlled by the controller and stops drawing the invisible spectro liquid
Body；And
When the surplus does not reach the target default volume, which is controlled by the controller and continues to draw the invisible spectro liquid
Body.
18. liquid measure control method as claimed in claim 10, which is characterized in that wherein the position detector is that a limit is opened
It closes.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910847275.1A CN110529355B (en) | 2019-09-09 | 2019-09-09 | Liquid amount control device and liquid amount control method using same |
| TW108146068A TWI760669B (en) | 2019-09-09 | 2019-12-16 | Liquid flow control device and control method for liquid flow using the same |
| US16/907,399 US11517895B2 (en) | 2019-09-09 | 2020-06-22 | Liquid amount control device and liquid amount control method thereof |
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| CN201910847275.1A CN110529355B (en) | 2019-09-09 | 2019-09-09 | Liquid amount control device and liquid amount control method using same |
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| US (1) | US11517895B2 (en) |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115414701A (en) * | 2022-07-22 | 2022-12-02 | 黄淮学院 | Biomedical-based biological tissue extraction device and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110529355B (en) | 2021-05-28 |
| TW202111461A (en) | 2021-03-16 |
| US20210069693A1 (en) | 2021-03-11 |
| US11517895B2 (en) | 2022-12-06 |
| TWI760669B (en) | 2022-04-11 |
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